orxVector.h

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/* Orx - Portable Game Engine
 *
 * Copyright (c) 2008- Orx-Project
 *
 * This software is provided 'as-is', without any express or implied
 * warranty. In no event will the authors be held liable for any damages
 * arising from the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 *    1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 *
 *    2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 *
 *    3. This notice may not be removed or altered from any source
 *    distribution.
 */


 
 
#ifndef _orxVECTOR_H_
#define _orxVECTOR_H_
 
#include "orxInclude.h"
 
#include "debug/orxDebug.h"
#include "memory/orxMemory.h"
#include "math/orxMath.h"
 
 
#ifdef __orxGCC__
 
  #pragma GCC diagnostic push
  #pragma GCC diagnostic ignored "-Wpragmas"
  #pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
 
#endif /* __orxGCC__ */
 

typedef struct __orxVECTOR_t
{
  union
  {
    orxFLOAT fX;              
    orxFLOAT fRho;            
    orxFLOAT fR;              
    orxFLOAT fH;              
  };
 
  union
  {
    orxFLOAT fY;              
    orxFLOAT fTheta;          
    orxFLOAT fG;              
    orxFLOAT fS;              
  };
 
  union
  {
    orxFLOAT fZ;              
    orxFLOAT fPhi;            
    orxFLOAT fB;              
    orxFLOAT fL;              
    orxFLOAT fV;              
  };
 
} orxVECTOR;
 
 
/* *** Vector inlined functions *** */
 

static orxINLINE orxVECTOR *                  orxVector_Set(orxVECTOR *_pvVec, orxFLOAT _fX, orxFLOAT _fY, orxFLOAT _fZ)
{
  /* Checks */
  orxASSERT(_pvVec != orxNULL);
 
  /* Stores values */
  _pvVec->fX = _fX;
  _pvVec->fY = _fY;
  _pvVec->fZ = _fZ;
 
  /* Done ! */
  return _pvVec;
}

static orxINLINE orxVECTOR *                  orxVector_SetAll(orxVECTOR *_pvVec, orxFLOAT _fValue)
{
  /* Done ! */
  return(orxVector_Set(_pvVec, _fValue, _fValue, _fValue));
}

static orxINLINE orxVECTOR *                  orxVector_Copy(orxVECTOR *_pvDst, const orxVECTOR *_pvSrc)
{
  /* Checks */
  orxASSERT(_pvDst != orxNULL);
  orxASSERT(_pvSrc != orxNULL);
 
  /* Copies it */
  orxMemory_Copy(_pvDst, _pvSrc, sizeof(orxVECTOR));
 
  /* Done! */
  return _pvDst;
}

static orxINLINE orxVECTOR *                  orxVector_Add(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2 != orxNULL);
 
  /* Adds all */
  _pvRes->fX = _pvOp1->fX + _pvOp2->fX;
  _pvRes->fY = _pvOp1->fY + _pvOp2->fY;
  _pvRes->fZ = _pvOp1->fZ + _pvOp2->fZ;
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Sub(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2 != orxNULL);
 
  /* Adds all */
  _pvRes->fX = _pvOp1->fX - _pvOp2->fX;
  _pvRes->fY = _pvOp1->fY - _pvOp2->fY;
  _pvRes->fZ = _pvOp1->fZ - _pvOp2->fZ;
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Mulf(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, orxFLOAT _fOp2)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
 
  /* Muls all */
  _pvRes->fX = _pvOp1->fX * _fOp2;
  _pvRes->fY = _pvOp1->fY * _fOp2;
  _pvRes->fZ = _pvOp1->fZ * _fOp2;
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Mul(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2 != orxNULL);
 
  /* Muls all */
  _pvRes->fX = _pvOp1->fX * _pvOp2->fX;
  _pvRes->fY = _pvOp1->fY * _pvOp2->fY;
  _pvRes->fZ = _pvOp1->fZ * _pvOp2->fZ;
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Divf(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, orxFLOAT _fOp2)
{
  orxFLOAT fRecCoef;
 
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_fOp2 != orxFLOAT_0);
 
  /* Gets reciprocal coef */
  fRecCoef = orxFLOAT_1 / _fOp2;
 
  /* Muls all */
  _pvRes->fX = _pvOp1->fX * fRecCoef;
  _pvRes->fY = _pvOp1->fY * fRecCoef;
  _pvRes->fZ = _pvOp1->fZ * fRecCoef;
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Div(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2 != orxNULL);
 
  /* Divs all */
  _pvRes->fX = _pvOp1->fX / _pvOp2->fX;
  _pvRes->fY = _pvOp1->fY / _pvOp2->fY;
  _pvRes->fZ = _pvOp1->fZ / _pvOp2->fZ;
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Mod(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2 != orxNULL);
 
  /* Modulos all */
  _pvRes->fX = orxMath_Mod(_pvOp1->fX, _pvOp2->fX);
  _pvRes->fY = orxMath_Mod(_pvOp1->fY, _pvOp2->fY);
  _pvRes->fZ = orxMath_Mod(_pvOp1->fZ, _pvOp2->fZ);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Pow(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2 != orxNULL);
 
  /* Powers all */
  _pvRes->fX = orxMath_Pow(_pvOp1->fX, _pvOp2->fX);
  _pvRes->fY = orxMath_Pow(_pvOp1->fY, _pvOp2->fY);
  _pvRes->fZ = orxMath_Pow(_pvOp1->fZ, _pvOp2->fZ);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Lerp(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2, orxFLOAT _fOp)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2 != orxNULL);
 
  /* Lerps all*/
  _pvRes->fX = orxLERP(_pvOp1->fX, _pvOp2->fX, _fOp);
  _pvRes->fY = orxLERP(_pvOp1->fY, _pvOp2->fY, _fOp);
  _pvRes->fZ = orxLERP(_pvOp1->fZ, _pvOp2->fZ, _fOp);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Remap(orxVECTOR *_pvRes, const orxVECTOR *_pvA1, const orxVECTOR *_pvB1, const orxVECTOR *_pvA2, const orxVECTOR *_pvB2, const orxVECTOR *_pvV)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvA1 != orxNULL);
  orxASSERT(_pvB1 != orxNULL);
  orxASSERT(_pvA2 != orxNULL);
  orxASSERT(_pvB2 != orxNULL);
  orxASSERT(_pvV != orxNULL);
 
  /* Remaps all*/
  _pvRes->fX = orxREMAP(_pvA1->fX, _pvB1->fX, _pvA2->fX, _pvB2->fX, _pvV->fX);
  _pvRes->fY = orxREMAP(_pvA1->fY, _pvB1->fY, _pvA2->fY, _pvB2->fY, _pvV->fY);
  _pvRes->fZ = orxREMAP(_pvA1->fZ, _pvB1->fZ, _pvA2->fZ, _pvB2->fZ, _pvV->fZ);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Min(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2 != orxNULL);
 
  /* Gets all mins */
  _pvRes->fX = orxMIN(_pvOp1->fX, _pvOp2->fX);
  _pvRes->fY = orxMIN(_pvOp1->fY, _pvOp2->fY);
  _pvRes->fZ = orxMIN(_pvOp1->fZ, _pvOp2->fZ);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Max(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2 != orxNULL);
 
  /* Gets all maxs */
  _pvRes->fX = orxMAX(_pvOp1->fX, _pvOp2->fX);
  _pvRes->fY = orxMAX(_pvOp1->fY, _pvOp2->fY);
  _pvRes->fZ = orxMAX(_pvOp1->fZ, _pvOp2->fZ);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Clamp(orxVECTOR *_pvRes, const orxVECTOR *_pvOp, const orxVECTOR *_pvMin, const orxVECTOR *_pvMax)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp != orxNULL);
  orxASSERT(_pvMin != orxNULL);
  orxASSERT(_pvMax != orxNULL);
 
  /* Gets all clamped values */
  _pvRes->fX = orxCLAMP(_pvOp->fX, _pvMin->fX, _pvMax->fX);
  _pvRes->fY = orxCLAMP(_pvOp->fY, _pvMin->fY, _pvMax->fY);
  _pvRes->fZ = orxCLAMP(_pvOp->fZ, _pvMin->fZ, _pvMax->fZ);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Abs(orxVECTOR *_pvRes, const orxVECTOR *_pvOp)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp != orxNULL);
 
  /* Negates all */
  _pvRes->fX = orxMath_Abs(_pvOp->fX);
  _pvRes->fY = orxMath_Abs(_pvOp->fY);
  _pvRes->fZ = orxMath_Abs(_pvOp->fZ);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Neg(orxVECTOR *_pvRes, const orxVECTOR *_pvOp)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp != orxNULL);
 
  /* Negates all */
  _pvRes->fX = -(_pvOp->fX);
  _pvRes->fY = -(_pvOp->fY);
  _pvRes->fZ = -(_pvOp->fZ);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Rec(orxVECTOR *_pvRes, const orxVECTOR *_pvOp)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp != orxNULL);
 
  /* Reverts all */
  _pvRes->fX = orxFLOAT_1 / _pvOp->fX;
  _pvRes->fY = orxFLOAT_1 / _pvOp->fY;
  _pvRes->fZ = orxFLOAT_1 / _pvOp->fZ;
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Floor(orxVECTOR *_pvRes, const orxVECTOR *_pvOp)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp != orxNULL);
 
  /* Reverts all */
  _pvRes->fX = orxMath_Floor(_pvOp->fX);
  _pvRes->fY = orxMath_Floor(_pvOp->fY);
  _pvRes->fZ = orxMath_Floor(_pvOp->fZ);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_Round(orxVECTOR *_pvRes, const orxVECTOR *_pvOp)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp != orxNULL);
 
  /* Reverts all */
  _pvRes->fX = orxMath_Round(_pvOp->fX);
  _pvRes->fY = orxMath_Round(_pvOp->fY);
  _pvRes->fZ = orxMath_Round(_pvOp->fZ);
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxFLOAT                     orxVector_GetSquareSize(const orxVECTOR *_pvOp)
{
  orxFLOAT fResult;
 
  /* Checks */
  orxASSERT(_pvOp != orxNULL);
 
  /* Updates result */
  fResult = (_pvOp->fX * _pvOp->fX) + (_pvOp->fY * _pvOp->fY) + (_pvOp->fZ * _pvOp->fZ);
 
  /* Done! */
  return fResult;
}

static orxINLINE orxFLOAT                     orxVector_GetSize(const orxVECTOR *_pvOp)
{
  orxFLOAT fResult;
 
  /* Checks */
  orxASSERT(_pvOp != orxNULL);
 
  /* Updates result */
  fResult = orxMath_Sqrt((_pvOp->fX * _pvOp->fX) + (_pvOp->fY * _pvOp->fY) + (_pvOp->fZ * _pvOp->fZ));
 
  /* Done! */
  return fResult;
}

static orxINLINE orxFLOAT                     orxVector_GetSquareDistance(const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  orxVECTOR   vTemp;
  orxFLOAT fResult;
 
  /* Checks */
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2  != orxNULL);
 
  /* Gets distance vector */
  orxVector_Sub(&vTemp, _pvOp2, _pvOp1);
 
  /* Updates result */
  fResult = orxVector_GetSquareSize(&vTemp);
 
  /* Done! */
  return fResult;
}

static orxINLINE orxFLOAT                     orxVector_GetDistance(const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  orxVECTOR   vTemp;
  orxFLOAT fResult;
 
  /* Checks */
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2  != orxNULL);
 
  /* Gets distance vector */
  orxVector_Sub(&vTemp, _pvOp2, _pvOp1);
 
  /* Updates result */
  fResult = orxVector_GetSize(&vTemp);
 
  /* Done! */
  return fResult;
}

static orxINLINE orxVECTOR *                  orxVector_Normalize(orxVECTOR *_pvRes, const orxVECTOR *_pvOp)
{
  orxFLOAT fOp;
 
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp != orxNULL);
 
  /* Gets squared size */
  fOp = (_pvOp->fX * _pvOp->fX) + (_pvOp->fY * _pvOp->fY) + (_pvOp->fZ * _pvOp->fZ);
 
  /* Gets reciprocal size */
  fOp = orxFLOAT_1 / (orxMATH_KF_TINY_EPSILON + orxMath_Sqrt(fOp));
 
  /* Updates result */
  _pvRes->fX = fOp * _pvOp->fX;
  _pvRes->fY = fOp * _pvOp->fY;
  _pvRes->fZ = fOp * _pvOp->fZ;
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_2DRotate(orxVECTOR *_pvRes, const orxVECTOR *_pvOp, orxFLOAT _fAngle)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp != orxNULL);
 
  /* 0? */
  if(_fAngle == orxFLOAT_0)
  {
    /* Updates result */
    orxVector_Copy(_pvRes, _pvOp);
  }
  /* PI/2? */
  if(_fAngle == orxMATH_KF_PI_BY_2)
  {
    /* Updates result */
    orxVector_Set(_pvRes, -_pvOp->fY, _pvOp->fX, _pvOp->fZ);
  }
  /* -PI/2? */
  else if(_fAngle == -orxMATH_KF_PI_BY_2)
  {
    /* Updates result */
    orxVector_Set(_pvRes, _pvOp->fY, -_pvOp->fX, _pvOp->fZ);
  }
  else if(_fAngle == orxMATH_KF_PI)
  {
    /* Updates result */
    orxVector_Set(_pvRes, -_pvOp->fX, -_pvOp->fY, _pvOp->fZ);
  }
  /* Any other angle */
  else
  {
    orxFLOAT fSin, fCos;
 
    /* Gets cos & sin of angle */
    fCos = orxMath_Cos(_fAngle);
    fSin = orxMath_Sin(_fAngle);
 
    /* Updates result */
    orxVector_Set(_pvRes, (fCos * _pvOp->fX) - (fSin * _pvOp->fY), (fSin * _pvOp->fX) + (fCos * _pvOp->fY), _pvOp->fZ);
  }
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxBOOL                      orxVector_IsNull(const orxVECTOR *_pvOp)
{
  orxBOOL bResult;
 
  /* Checks */
  orxASSERT(_pvOp != orxNULL);
 
  /* Updates result */
  bResult = ((_pvOp->fX == orxFLOAT_0) && (_pvOp->fY == orxFLOAT_0) && (_pvOp->fZ == orxFLOAT_0)) ? orxTRUE : orxFALSE;
 
  /* Done! */
  return bResult;
}

static orxINLINE orxBOOL                      orxVector_AreEqual(const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  orxBOOL bResult;
 
  /* Checks */
  orxASSERT(_pvOp1  != orxNULL);
  orxASSERT(_pvOp2  != orxNULL);
 
  /* Updates result */
  bResult = ((_pvOp1->fX == _pvOp2->fX) && (_pvOp1->fY == _pvOp2->fY) && (_pvOp1->fZ == _pvOp2->fZ)) ? orxTRUE : orxFALSE;
 
  /* Done! */
  return bResult;
}

static orxINLINE orxVECTOR *                  orxVector_FromCartesianToSpherical(orxVECTOR *_pvRes, const orxVECTOR *_pvOp)
{
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp != orxNULL);
 
  /* Is operand vector null? */
  if((_pvOp->fX == orxFLOAT_0)
  && (_pvOp->fY == orxFLOAT_0)
  && (_pvOp->fZ == orxFLOAT_0))
  {
    /* Updates result vector */
    _pvRes->fRho = _pvRes->fTheta = _pvRes->fPhi = orxFLOAT_0;
  }
  else
  {
    orxFLOAT fRho, fTheta, fPhi;
 
    /* Z = 0? */
    if(_pvOp->fZ == orxFLOAT_0)
    {
      /* X = 0? */
      if(_pvOp->fX == orxFLOAT_0)
      {
        /* Gets absolute value */
        fRho = orxMath_Abs(_pvOp->fY);
      }
      /* X != 0 and Y = 0? */
      else if(_pvOp->fY == orxFLOAT_0)
      {
        /* Gets absolute value */
        fRho = orxMath_Abs(_pvOp->fX);
      }
      /* X != 0 and Y != 0 */
      else
      {
        /* Computes rho */
        fRho = orxMath_Sqrt((_pvOp->fX * _pvOp->fX) + (_pvOp->fY * _pvOp->fY));
      }
 
      /* Sets phi */
      fPhi = orxFLOAT_0;
    }
    else
    {
      /* X = 0 and Y = 0? */
      if((_pvOp->fX == orxFLOAT_0) && (_pvOp->fY == orxFLOAT_0))
      {
        /* Z < 0? */
        if(_pvOp->fZ < orxFLOAT_0)
        {
          /* Gets absolute value */
          fRho = orxMath_Abs(_pvOp->fZ);
 
          /* Sets phi */
          fPhi = orxMATH_KF_PI_BY_2;
        }
        else
        {
          /* Sets rho */
          fRho = _pvOp->fZ;
 
          /* Sets phi */
          fPhi = -orxMATH_KF_PI_BY_2;
        }
      }
      else
      {
        /* Computes rho */
        fRho = orxMath_Sqrt(orxVector_GetSquareSize(_pvOp));
 
        /* Computes phi */
        fPhi = orxMath_ACos(_pvOp->fZ / fRho) - orxMATH_KF_PI_BY_2;
      }
    }
 
    /* Computes theta */
    fTheta = orxMath_ATan(_pvOp->fY, _pvOp->fX);
 
    /* Updates result */
    _pvRes->fRho    = fRho;
    _pvRes->fTheta  = fTheta;
    _pvRes->fPhi    = fPhi;
  }
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxVECTOR *                  orxVector_FromSphericalToCartesian(orxVECTOR *_pvRes, const orxVECTOR *_pvOp)
{
  orxFLOAT fSinPhi, fCosPhi, fSinTheta, fCosTheta, fRho;
 
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp != orxNULL);
 
  /* Stores rho */
  fRho = _pvOp->fRho;
 
  /* Gets sine & cosine */
  fSinTheta = orxMath_Sin(_pvOp->fTheta);
  fCosTheta = orxMath_Cos(_pvOp->fTheta);
  fSinPhi   = orxMath_Sin(_pvOp->fPhi + orxMATH_KF_PI_BY_2);
  fCosPhi   = orxMath_Cos(_pvOp->fPhi + orxMATH_KF_PI_BY_2);
  if(orxMath_Abs(fSinTheta) < orxMATH_KF_EPSILON)
  {
    fSinTheta = orxFLOAT_0;
  }
  if(orxMath_Abs(fCosTheta) < orxMATH_KF_EPSILON)
  {
    fCosTheta = orxFLOAT_0;
  }
  if(orxMath_Abs(fSinPhi) < orxMATH_KF_EPSILON)
  {
    fSinPhi = orxFLOAT_0;
  }
  if(orxMath_Abs(fCosPhi) < orxMATH_KF_EPSILON)
  {
    fCosPhi = orxFLOAT_0;
  }
 
  /* Updates result */
  _pvRes->fX = fRho * fCosTheta * fSinPhi;
  _pvRes->fY = fRho * fSinTheta * fSinPhi;
  _pvRes->fZ = fRho * fCosPhi;
 
  /* Done! */
  return _pvRes;
}

static orxINLINE orxFLOAT                   orxVector_Dot(const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  orxFLOAT fResult;
 
  /* Checks */
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2  != orxNULL);
 
  /* Updates result */
  fResult = (_pvOp1->fX * _pvOp2->fX) + (_pvOp1->fY * _pvOp2->fY) + (_pvOp1->fZ * _pvOp2->fZ);
 
  /* Done! */
  return fResult;
}

static orxINLINE orxFLOAT                   orxVector_2DDot(const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  orxFLOAT fResult;
 
  /* Checks */
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2  != orxNULL);
 
  /* Updates result */
  fResult = (_pvOp1->fX * _pvOp2->fX) + (_pvOp1->fY * _pvOp2->fY);
 
  /* Done! */
  return fResult;
}

static orxINLINE orxVECTOR *                orxVector_Cross(orxVECTOR *_pvRes, const orxVECTOR *_pvOp1, const orxVECTOR *_pvOp2)
{
  orxFLOAT fTemp1, fTemp2;
 
  /* Checks */
  orxASSERT(_pvRes != orxNULL);
  orxASSERT(_pvOp1 != orxNULL);
  orxASSERT(_pvOp2  != orxNULL);
 
  /* Computes cross product */
  fTemp1      = (_pvOp1->fY * _pvOp2->fZ) - (_pvOp1->fZ * _pvOp2->fY);
  fTemp2      = (_pvOp1->fZ * _pvOp2->fX) - (_pvOp1->fX * _pvOp2->fZ);
  _pvRes->fZ  = (_pvOp1->fX * _pvOp2->fY) - (_pvOp1->fY * _pvOp2->fX);
  _pvRes->fY  = fTemp2;
  _pvRes->fX  = fTemp1;
 
  /* Done! */
  return _pvRes;
}
 
 
/* *** Vector functions *** */

extern orxDLLAPI orxVECTOR *orxFASTCALL orxVector_Bezier(orxVECTOR *_pvRes, const orxVECTOR *_pvPoint1, const orxVECTOR *_pvPoint2, const orxVECTOR *_pvPoint3, const orxVECTOR *_pvPoint4, orxFLOAT _fT);

extern orxDLLAPI orxVECTOR *orxFASTCALL orxVector_CatmullRom(orxVECTOR *_pvRes, const orxVECTOR *_pvPoint1, const orxVECTOR *_pvPoint2, const orxVECTOR *_pvPoint3, const orxVECTOR *_pvPoint4, orxFLOAT _fT);
 
 
/* *** Vector constants *** */
 
extern orxDLLAPI const orxVECTOR orxVECTOR_X;     
extern orxDLLAPI const orxVECTOR orxVECTOR_Y;     
extern orxDLLAPI const orxVECTOR orxVECTOR_Z;     
 
extern orxDLLAPI const orxVECTOR orxVECTOR_0;     
extern orxDLLAPI const orxVECTOR orxVECTOR_1;     
 
#define orxCOLOR_DECLARE(NAME, R, G, B)           extern orxDLLAPI const orxVECTOR orxVECTOR_##NAME;
 
#include "display/orxColorList.inc"
 
#undef orxCOLOR_DECLARE
 
#ifdef __orxGCC__
 
  #pragma GCC diagnostic pop
 
#endif /* __orxGCC__ */
 
#endif /* _orxVECTOR_H_ */